Adaptive LQR Control for a Quad-Rotor Helicopter Based on ARX Modes
LIU Lili
ZUO Jihong
WU Jun
Abstract：For the Quad-Rotor Helicopter which is nonlinear and coupled with each other,the design of adaptive LQR control-ler based on ARX modes are discussed.Firstly,the flight states are divided into intervals,and the local ARX model is constructed and identified in each interval.The ARX models of the global system is obtained.Then,the LQR controller with adaptive function is designed based on the ARX models.The real time attitude control verifies the validity and feasibility of the proposed method.
Keywords：quad-rotor Helicopternonlinearattitude control
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 222-224,230 )